基于多摄像头的AGV全局导航地图创建  

AGV Global Navigation Mapping Based on Multi-camera

作　　者：刘涛[1] 何卫平[1] 雷蕾[1] 

机构地区：[1]西北工业大学现代设计与集成制造教育部重点实验室,西安710072

出　　处：《计算机与数字工程》2013年第4期645-648,共4页Computer & Digital Engineering

摘　　要：为了创建AGV大范围全局导航地图,论文提出一种基于多摄像头的全局导航地图创建方法。首先,在AGV活动区域上方垂直安装多个摄像头采集大范围区域的局部图像;其次,通过相位相关法和改进的SURF特征匹配相结合的算法对四幅局部图像进行拼接;最后,采用基于粒子群的模糊C均值聚类算法对全局图像进行分割提取障碍物信息,并建立室内环境全局导航地图。实验表明该方法与现有算法相比具有更好的实时性,能够快速建立全局导航地图。In order to create wide range of AGV global navigation map, a map building method for global navigation which is based on multi-camera is proposed. Firstly, multiple cameras are installed vertically above the AGV activity area to acquisition wide-range area of local images. Then, splice the four local images by the way of the phase correlation method and improved SURF feature matching algorithm. Fi- nally, using Fuzzy C-Means clustering algorithm based on particle swarm for global image segmentation to extract obstacle information, and to establish a global navigation map of the indoor environment. The experimental results indicate that the proposed algorithm not only has better real time compared with the existing algorithms but also can establish global navigation map effectively.

关 键 词：多摄像头 SURF算法 图像拼接 全局导航 地图创建 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]